diff --git a/corelib/include/rtabmap/core/util3d_filtering.h b/corelib/include/rtabmap/core/util3d_filtering.h
index 230836f8..04db359b 100644
--- a/corelib/include/rtabmap/core/util3d_filtering.h
+++ b/corelib/include/rtabmap/core/util3d_filtering.h
@@ -170,6 +170,10 @@ pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
 		float radiusSearch,
 		int minNeighborsInRadius);
+pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		float radiusSearch,
+		int minNeighborsInRadius);
 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		float radiusSearch,
@@ -196,6 +200,11 @@ pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
 		const pcl::IndicesPtr & indices,
 		float radiusSearch,
 		int minNeighborsInRadius);
+pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		float radiusSearch,
+		int minNeighborsInRadius);
 pcl::IndicesPtr RTABMAP_EXP radiusFiltering(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
diff --git a/corelib/include/rtabmap/core/util3d_surface.h b/corelib/include/rtabmap/core/util3d_surface.h
index 443cee72..debab6b8 100644
--- a/corelib/include/rtabmap/core/util3d_surface.h
+++ b/corelib/include/rtabmap/core/util3d_surface.h
@@ -159,6 +159,11 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_EXP mls(
 		float dilationVoxelSize = 1.0f,  // VOXEL_GRID_DILATION
 		int dilationIterations = 0);     // VOXEL_GRID_DILATION
 
+void RTABMAP_EXP adjustNormalsToViewPoints(
+		const std::map<int, Transform> & poses,
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
+		const std::vector<int> & rawCameraIndices,
+		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
 void RTABMAP_EXP adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
diff --git a/corelib/src/util3d_filtering.cpp b/corelib/src/util3d_filtering.cpp
index 8423717a..1c24a0f1 100644
--- a/corelib/src/util3d_filtering.cpp
+++ b/corelib/src/util3d_filtering.cpp
@@ -420,6 +420,14 @@ pcl::IndicesPtr radiusFiltering(
 	pcl::IndicesPtr indices(new std::vector<int>);
 	return radiusFiltering(cloud, indices, radiusSearch, minNeighborsInRadius);
 }
+pcl::IndicesPtr radiusFiltering(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		float radiusSearch,
+		int minNeighborsInRadius)
+{
+	pcl::IndicesPtr indices(new std::vector<int>);
+	return radiusFiltering(cloud, indices, radiusSearch, minNeighborsInRadius);
+}
 pcl::IndicesPtr radiusFiltering(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		float radiusSearch,
@@ -483,6 +491,51 @@ pcl::IndicesPtr radiusFiltering(
 		return output;
 	}
 }
+pcl::IndicesPtr radiusFiltering(
+		const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
+		const pcl::IndicesPtr & indices,
+		float radiusSearch,
+		int minNeighborsInRadius)
+{
+	pcl::search::KdTree<pcl::PointNormal>::Ptr tree (new pcl::search::KdTree<pcl::PointNormal>(false));
+
+	if(indices->size())
+	{
+		pcl::IndicesPtr output(new std::vector<int>(indices->size()));
+		int oi = 0; // output iterator
+		tree->setInputCloud(cloud, indices);
+		for(unsigned int i=0; i<indices->size(); ++i)
+		{
+			std::vector<int> kIndices;
+			std::vector<float> kDistances;
+			int k = tree->radiusSearch(cloud->at(indices->at(i)), radiusSearch, kIndices, kDistances);
+			if(k > minNeighborsInRadius)
+			{
+				output->at(oi++) = indices->at(i);
+			}
+		}
+		output->resize(oi);
+		return output;
+	}
+	else
+	{
+		pcl::IndicesPtr output(new std::vector<int>(cloud->size()));
+		int oi = 0; // output iterator
+		tree->setInputCloud(cloud);
+		for(unsigned int i=0; i<cloud->size(); ++i)
+		{
+			std::vector<int> kIndices;
+			std::vector<float> kDistances;
+			int k = tree->radiusSearch(cloud->at(i), radiusSearch, kIndices, kDistances);
+			if(k > minNeighborsInRadius)
+			{
+				output->at(oi++) = i;
+			}
+		}
+		output->resize(oi);
+		return output;
+	}
+}
 pcl::IndicesPtr radiusFiltering(
 		const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
 		const pcl::IndicesPtr & indices,
diff --git a/corelib/src/util3d_surface.cpp b/corelib/src/util3d_surface.cpp
index c87fd13c..2572e09b 100644
--- a/corelib/src/util3d_surface.cpp
+++ b/corelib/src/util3d_surface.cpp
@@ -724,6 +724,52 @@ pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr mls(
 	return cloud_with_normals;
 }
 
+void adjustNormalsToViewPoints(
+		const std::map<int, Transform> & poses,
+		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
+		const std::vector<int> & rawCameraIndices,
+		pcl::PointCloud<pcl::PointNormal>::Ptr & cloud)
+{
+	if(poses.size() && rawCloud->size() && rawCloud->size() == rawCameraIndices.size() && cloud->size())
+	{
+		pcl::search::KdTree<pcl::PointXYZ>::Ptr rawTree (new pcl::search::KdTree<pcl::PointXYZ>);
+		rawTree->setInputCloud (rawCloud);
+
+		for(unsigned int i=0; i<cloud->size(); ++i)
+		{
+			pcl::PointXYZ normal(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
+			if(pcl::isFinite(normal))
+			{
+				std::vector<int> indices;
+				std::vector<float> dist;
+				rawTree->nearestKSearch(pcl::PointXYZ(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z), 1, indices, dist);
+				UASSERT(indices.size() == 1);
+				if(indices.size() && indices[0]>=0)
+				{
+					Transform p = poses.at(rawCameraIndices[indices[0]]);
+					pcl::PointXYZ viewpoint(p.x(), p.y(), p.z());
+					Eigen::Vector3f v = viewpoint.getVector3fMap() - cloud->points[i].getVector3fMap();
+
+					Eigen::Vector3f n(normal.x, normal.y, normal.z);
+
+					float result = v.dot(n);
+					if(result < 0)
+					{
+						//reverse normal
+						cloud->points[i].normal_x *= -1.0f;
+						cloud->points[i].normal_y *= -1.0f;
+						cloud->points[i].normal_z *= -1.0f;
+					}
+				}
+				else
+				{
+					UWARN("Not found camera viewpoint for point %d", i);
+				}
+			}
+		}
+	}
+}
+
 void adjustNormalsToViewPoints(
 		const std::map<int, Transform> & poses,
 		const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
@@ -737,30 +783,34 @@ void adjustNormalsToViewPoints(
 
 		for(unsigned int i=0; i<cloud->size(); ++i)
 		{
-			std::vector<int> indices;
-			std::vector<float> dist;
-			rawTree->nearestKSearch(pcl::PointXYZ(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z), 1, indices, dist);
-			UASSERT(indices.size() == 1);
-			if(indices.size() && indices[0]>=0)
+			pcl::PointXYZ normal(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
+			if(pcl::isFinite(normal))
 			{
-				Transform p = poses.at(rawCameraIndices[indices[0]]);
-				pcl::PointXYZ viewpoint(p.x(), p.y(), p.z());
-				Eigen::Vector3f v = viewpoint.getVector3fMap() - cloud->points[i].getVector3fMap();
-
-				Eigen::Vector3f n(cloud->points[i].normal_x, cloud->points[i].normal_y, cloud->points[i].normal_z);
-
-				float result = v.dot(n);
-				if(result < 0)
+				std::vector<int> indices;
+				std::vector<float> dist;
+				rawTree->nearestKSearch(pcl::PointXYZ(cloud->points[i].x, cloud->points[i].y, cloud->points[i].z), 1, indices, dist);
+				UASSERT(indices.size() == 1);
+				if(indices.size() && indices[0]>=0)
 				{
-					//reverse normal
-					cloud->points[i].normal_x *= -1.0f;
-					cloud->points[i].normal_y *= -1.0f;
-					cloud->points[i].normal_z *= -1.0f;
+					Transform p = poses.at(rawCameraIndices[indices[0]]);
+					pcl::PointXYZ viewpoint(p.x(), p.y(), p.z());
+					Eigen::Vector3f v = viewpoint.getVector3fMap() - cloud->points[i].getVector3fMap();
+
+					Eigen::Vector3f n(normal.x, normal.y, normal.z);
+
+					float result = v.dot(n);
+					if(result < 0)
+					{
+						//reverse normal
+						cloud->points[i].normal_x *= -1.0f;
+						cloud->points[i].normal_y *= -1.0f;
+						cloud->points[i].normal_z *= -1.0f;
+					}
+				}
+				else
+				{
+					UWARN("Not found camera viewpoint for point %d", i);
 				}
-			}
-			else
-			{
-				UWARN("Not found camera viewpoint for point %d", i);
 			}
 		}
 	}
diff --git a/guilib/include/rtabmap/gui/MainWindow.h b/guilib/include/rtabmap/gui/MainWindow.h
index 83875f21..6aa6928e 100644
--- a/guilib/include/rtabmap/gui/MainWindow.h
+++ b/guilib/include/rtabmap/gui/MainWindow.h
@@ -68,6 +68,7 @@ class StatsToolBox;
 class ProgressDialog;
 class TwistGridWidget;
 class ExportCloudsDialog;
+class ExportScansDialog;
 class PostProcessingDialog;
 class DataRecorder;
 
@@ -245,9 +246,6 @@ private:
 	void exportPoses(int format);
 	QString captureScreen(bool cacheInRAM = false);
 
-	bool getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans);
-	void saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds, bool binaryMode = true);
-
 private:
 	Ui_mainWindow * _ui;
 
@@ -259,7 +257,8 @@ private:
 	//Dialogs
 	PreferencesDialog * _preferencesDialog;
 	AboutDialog * _aboutDialog;
-	ExportCloudsDialog * _exportDialog;
+	ExportCloudsDialog * _exportCloudsDialog;
+	ExportScansDialog * _exportScansDialog;
 	PostProcessingDialog * _postProcessingDialog;
 	DataRecorder * _dataRecorder;
 
@@ -287,7 +286,7 @@ private:
 	std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _createdClouds;
 	std::pair<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > _previousCloud; // used for subtraction
 
-	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > _createdScans;
+	std::map<int, cv::Mat> _createdScans;
 	std::map<int, std::pair<cv::Mat, cv::Mat> > _projectionLocalMaps; // <ground, obstacles>
 	std::map<int, std::pair<cv::Mat, cv::Mat> > _gridLocalMaps; // <ground, obstacles>
 
diff --git a/guilib/src/CMakeLists.txt b/guilib/src/CMakeLists.txt
index 59660f49..e3c98f56 100644
--- a/guilib/src/CMakeLists.txt
+++ b/guilib/src/CMakeLists.txt
@@ -22,6 +22,7 @@ SET(headers_ui
 	./ExportDialog.h
 	./PostProcessingDialog.h
 	./ExportCloudsDialog.h
+	./ExportScansDialog.h
 	./MapVisibilityWidget.h
 	../include/${PROJECT_PREFIX}/gui/GraphViewer.h
 	./CreateSimpleCalibrationDialog.h
@@ -38,6 +39,7 @@ SET(uis
     ./ui/exportDialog.ui
     ./ui/postProcessingDialog.ui
     ./ui/exportCloudsDialog.ui
+    ./ui/exportScansDialog.ui
     ./ui/calibrationDialog.ui
     ./ui/createSimpleCalibrationDialog.ui
 )
@@ -84,6 +86,7 @@ SET(SRC_FILES
 	./ExportDialog.cpp
 	./PostProcessingDialog.cpp
 	./ExportCloudsDialog.cpp
+	./ExportScansDialog.cpp
 	./MapVisibilityWidget.cpp
 	./GraphViewer.cpp
 	./CreateSimpleCalibrationDialog.cpp
diff --git a/guilib/src/CloudViewer.cpp b/guilib/src/CloudViewer.cpp
index d3cce145..9d81e150 100644
--- a/guilib/src/CloudViewer.cpp
+++ b/guilib/src/CloudViewer.cpp
@@ -333,6 +333,8 @@ void CloudViewer::loadSettings(QSettings & settings, const QString & group)
 	{
 		settings.endGroup();
 	}
+
+	this->update();
 }
 
 bool CloudViewer::updateCloudPose(
diff --git a/guilib/src/ExportCloudsDialog.cpp b/guilib/src/ExportCloudsDialog.cpp
index 52830d27..f63ee2d7 100644
--- a/guilib/src/ExportCloudsDialog.cpp
+++ b/guilib/src/ExportCloudsDialog.cpp
@@ -484,7 +484,7 @@ void ExportCloudsDialog::viewClouds(
 	}
 }
 
-bool removeDir(const QString & dirName)
+bool removeDirRecursively(const QString & dirName)
 {
     bool result = true;
     QDir dir(dirName);
@@ -492,7 +492,7 @@ bool removeDir(const QString & dirName)
     if (dir.exists(dirName)) {
         Q_FOREACH(QFileInfo info, dir.entryInfoList(QDir::NoDotAndDotDot | QDir::System | QDir::Hidden  | QDir::AllDirs | QDir::Files, QDir::DirsFirst)) {
             if (info.isDir()) {
-                result = removeDir(info.absoluteFilePath());
+                result = removeDirRecursively(info.absoluteFilePath());
             }
             else {
                 result = QFile::remove(info.absoluteFilePath());
@@ -850,7 +850,7 @@ bool ExportCloudsDialog::getExportedClouds(
 		if(_ui->checkBox_textureMapping->isEnabled() && _ui->checkBox_textureMapping->isChecked())
 		{
 			QDir dir(workingDirectory);
-			removeDir(workingDirectory+QDir::separator()+"tmp_textures");
+			removeDirRecursively(workingDirectory+QDir::separator()+"tmp_textures");
 			dir.mkdir("tmp_textures");
 			int i=0;
 			for(std::map<int, pcl::PolygonMesh::Ptr>::iterator iter=meshes.begin();
@@ -1360,7 +1360,7 @@ void ExportCloudsDialog::saveTextureMeshes(
 				pcl::TextureMesh mesh;
 				mesh.tex_coordinates = meshes.begin()->second->tex_coordinates;
 				mesh.tex_materials = meshes.begin()->second->tex_materials;
-				removeDir(QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName());
+				removeDirRecursively(QFileInfo(path).absoluteDir().absolutePath()+QDir::separator()+QFileInfo(path).baseName());
 				QDir(QFileInfo(path).absoluteDir().absolutePath()).mkdir(QFileInfo(path).baseName());
 				for(unsigned int i=0;i<meshes.begin()->second->tex_materials.size(); ++i)
 				{
diff --git a/guilib/src/ExportScansDialog.cpp b/guilib/src/ExportScansDialog.cpp
new file mode 100644
index 00000000..05166dd4
--- /dev/null
+++ b/guilib/src/ExportScansDialog.cpp
@@ -0,0 +1,597 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include "ExportScansDialog.h"
+#include "ui_ExportScansDialog.h"
+
+#include "rtabmap/gui/ProgressDialog.h"
+#include "rtabmap/gui/CloudViewer.h"
+#include "rtabmap/utilite/ULogger.h"
+#include "rtabmap/utilite/UConversion.h"
+#include "rtabmap/utilite/UThread.h"
+#include "rtabmap/utilite/UStl.h"
+
+#include "rtabmap/core/util3d_filtering.h"
+#include "rtabmap/core/util3d_surface.h"
+#include "rtabmap/core/util3d_transforms.h"
+#include "rtabmap/core/util3d.h"
+#include "rtabmap/core/Graph.h"
+
+#include <pcl/conversions.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+
+#include <QPushButton>
+#include <QDir>
+#include <QFileInfo>
+#include <QMessageBox>
+#include <QFileDialog>
+#include <QInputDialog>
+
+namespace rtabmap {
+
+ExportScansDialog::ExportScansDialog(QWidget *parent) :
+	QDialog(parent)
+{
+	_ui = new Ui_ExportScansDialog();
+	_ui->setupUi(this);
+
+	connect(_ui->buttonBox->button(QDialogButtonBox::RestoreDefaults), SIGNAL(clicked()), this, SLOT(restoreDefaults()));
+
+	restoreDefaults();
+
+	connect(_ui->checkBox_binary, SIGNAL(stateChanged(int)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_normalKSearch, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
+	connect(_ui->groupBox_regenerate, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_decimation, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
+	connect(_ui->groupBox_filtering, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_filteringRadius, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+	connect(_ui->spinBox_filteringMinNeighbors, SIGNAL(valueChanged(int)), this, SIGNAL(configChanged()));
+
+	connect(_ui->checkBox_assemble, SIGNAL(clicked(bool)), this, SIGNAL(configChanged()));
+	connect(_ui->doubleSpinBox_voxelSize_assembled, SIGNAL(valueChanged(double)), this, SIGNAL(configChanged()));
+
+	_progressDialog = new ProgressDialog(this);
+	_progressDialog->setVisible(false);
+	_progressDialog->setAutoClose(true, 2);
+	_progressDialog->setMinimumWidth(600);
+}
+
+ExportScansDialog::~ExportScansDialog()
+{
+	delete _ui;
+}
+
+void ExportScansDialog::saveSettings(QSettings & settings, const QString & group) const
+{
+	if(!group.isEmpty())
+	{
+		settings.beginGroup(group);
+	}
+	settings.setValue("binary", _ui->checkBox_binary->isChecked());
+	settings.setValue("normals_k", _ui->spinBox_normalKSearch->value());
+
+	settings.setValue("regenerate", _ui->groupBox_regenerate->isChecked());
+	settings.setValue("regenerate_decimation", _ui->spinBox_decimation->value());
+
+	settings.setValue("filtering", _ui->groupBox_filtering->isChecked());
+	settings.setValue("filtering_radius", _ui->doubleSpinBox_filteringRadius->value());
+	settings.setValue("filtering_min_neighbors", _ui->spinBox_filteringMinNeighbors->value());
+
+	settings.setValue("assemble", _ui->checkBox_assemble->isChecked());
+	settings.setValue("assemble_voxel",_ui->doubleSpinBox_voxelSize_assembled->value());
+
+	if(!group.isEmpty())
+	{
+		settings.endGroup();
+	}
+}
+
+void ExportScansDialog::loadSettings(QSettings & settings, const QString & group)
+{
+	if(!group.isEmpty())
+	{
+		settings.beginGroup(group);
+	}
+
+	_ui->checkBox_binary->setChecked(settings.value("binary", _ui->checkBox_binary->isChecked()).toBool());
+	_ui->spinBox_normalKSearch->setValue(settings.value("normals_k", _ui->spinBox_normalKSearch->value()).toInt());
+
+	_ui->groupBox_regenerate->setChecked(settings.value("regenerate", _ui->groupBox_regenerate->isChecked()).toBool());
+	_ui->spinBox_decimation->setValue(settings.value("regenerate_decimation", _ui->spinBox_decimation->value()).toInt());
+
+	_ui->groupBox_filtering->setChecked(settings.value("filtering", _ui->groupBox_filtering->isChecked()).toBool());
+	_ui->doubleSpinBox_filteringRadius->setValue(settings.value("filtering_radius", _ui->doubleSpinBox_filteringRadius->value()).toDouble());
+	_ui->spinBox_filteringMinNeighbors->setValue(settings.value("filtering_min_neighbors", _ui->spinBox_filteringMinNeighbors->value()).toInt());
+
+	_ui->checkBox_assemble->setChecked(settings.value("assemble", _ui->checkBox_assemble->isChecked()).toBool());
+	_ui->doubleSpinBox_voxelSize_assembled->setValue(settings.value("assemble_voxel", _ui->doubleSpinBox_voxelSize_assembled->value()).toDouble());
+
+	if(!group.isEmpty())
+	{
+		settings.endGroup();
+	}
+}
+
+void ExportScansDialog::restoreDefaults()
+{
+	_ui->checkBox_binary->setChecked(true);
+	_ui->spinBox_normalKSearch->setValue(20);
+
+	_ui->groupBox_regenerate->setChecked(false);
+	_ui->spinBox_decimation->setValue(1);
+
+	_ui->groupBox_filtering->setChecked(false);
+	_ui->doubleSpinBox_filteringRadius->setValue(0.02);
+	_ui->spinBox_filteringMinNeighbors->setValue(2);
+
+	_ui->checkBox_assemble->setChecked(true);
+	_ui->doubleSpinBox_voxelSize_assembled->setValue(0.01);
+
+	this->update();
+}
+
+void ExportScansDialog::setSaveButton()
+{
+	_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(false);
+	_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(true);
+	_ui->checkBox_binary->setVisible(true);
+	_ui->label_binaryFile->setVisible(true);
+}
+
+void ExportScansDialog::setOkButton()
+{
+	_ui->buttonBox->button(QDialogButtonBox::Ok)->setVisible(true);
+	_ui->buttonBox->button(QDialogButtonBox::Save)->setVisible(false);
+	_ui->checkBox_binary->setVisible(false);
+	_ui->label_binaryFile->setVisible(false);
+}
+
+void ExportScansDialog::enableRegeneration(bool enabled)
+{
+	if(!enabled)
+	{
+		_ui->groupBox_regenerate->setChecked(false);
+	}
+	_ui->groupBox_regenerate->setEnabled(enabled);
+}
+
+void ExportScansDialog::exportScans(
+		const std::map<int, Transform> & poses,
+		const std::map<int, int> & mapIds,
+		const QMap<int, Signature> & cachedSignatures,
+		const std::map<int, cv::Mat> & createdScans,
+		const QString & workingDirectory)
+{
+	std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> clouds;
+
+	setSaveButton();
+
+	if(getExportedScans(
+			poses,
+			mapIds,
+			cachedSignatures,
+			createdScans,
+			workingDirectory,
+			clouds))
+	{
+		saveScans(workingDirectory, poses, clouds, _ui->checkBox_binary->isChecked());
+		_progressDialog->setValue(_progressDialog->maximumSteps());
+	}
+}
+
+void ExportScansDialog::viewScans(
+		const std::map<int, Transform> & poses,
+		const std::map<int, int> & mapIds,
+		const QMap<int, Signature> & cachedSignatures,
+		const std::map<int, cv::Mat> & createdScans,
+		const QString & workingDirectory)
+{
+	std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> clouds;
+
+	setOkButton();
+	if(getExportedScans(
+			poses,
+			mapIds,
+			cachedSignatures,
+			createdScans,
+			workingDirectory,
+			clouds))
+	{
+		QDialog * window = new QDialog(this->parentWidget()?this->parentWidget():this, Qt::Window);
+		window->setAttribute(Qt::WA_DeleteOnClose, true);
+		window->setWindowTitle(tr("Scans (%1 nodes)").arg(clouds.size()));
+		window->setMinimumWidth(800);
+		window->setMinimumHeight(600);
+
+		CloudViewer * viewer = new CloudViewer(window);
+		viewer->setCameraLockZ(false);
+
+		QVBoxLayout *layout = new QVBoxLayout();
+		layout->addWidget(viewer);
+		window->setLayout(layout);
+		connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
+
+		window->show();
+
+		uSleep(500);
+		if(clouds.size())
+		{
+			for(std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr>::iterator iter = clouds.begin(); iter!=clouds.end(); ++iter)
+			{
+				_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)...").arg(iter->first).arg(iter->second->size()));
+				_progressDialog->incrementStep();
+
+				QColor color = Qt::gray;
+				int mapId = uValue(mapIds, iter->first, -1);
+				if(mapId >= 0)
+				{
+					color = (Qt::GlobalColor)(mapId % 12 + 7 );
+				}
+				viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?poses.at(iter->first):Transform::getIdentity());
+				_progressDialog->appendText(tr("Viewing the cloud %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
+			}
+		}
+
+		_progressDialog->setValue(_progressDialog->maximumSteps());
+		viewer->update();
+	}
+}
+
+bool ExportScansDialog::getExportedScans(
+		const std::map<int, Transform> & poses,
+		const std::map<int, int> & mapIds,
+		const QMap<int, Signature> & cachedSignatures,
+		const std::map<int, cv::Mat> & createdClouds,
+		const QString & workingDirectory,
+		std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> & cloudsWithNormals)
+{
+	enableRegeneration(cachedSignatures.size());
+	if(this->exec() == QDialog::Accepted)
+	{
+		_progressDialog->resetProgress();
+		_progressDialog->show();
+		int mul = 1;
+		if(_ui->checkBox_assemble->isChecked())
+		{
+			mul+=1;
+		}
+		mul+=1; // normals
+		_progressDialog->setMaximumSteps(int(poses.size())*mul+1);
+
+		std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> clouds = this->getScans(
+				poses,
+				cachedSignatures,
+				createdClouds);
+
+		if(_ui->checkBox_assemble->isChecked())
+		{
+			_progressDialog->appendText(tr("Assembling %1 clouds...").arg(clouds.size()));
+			QApplication::processEvents();
+
+			pcl::PointCloud<pcl::PointXYZ>::Ptr rawAssembledCloud(new pcl::PointCloud<pcl::PointXYZ>);
+			std::vector<int> rawCameraIndices;
+			int i =0;
+			pcl::PointCloud<pcl::PointNormal>::Ptr assembledCloud(new pcl::PointCloud<pcl::PointNormal>);
+			for(std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr>::iterator iter=clouds.begin();
+				iter!= clouds.end();
+				++iter)
+			{
+				pcl::PointCloud<pcl::PointNormal>::Ptr transformed(new pcl::PointCloud<pcl::PointNormal>);
+				transformed = util3d::transformPointCloud(iter->second, poses.at(iter->first));
+
+				*assembledCloud += *transformed;
+
+				rawCameraIndices.resize(assembledCloud->size(), iter->first);
+
+				_progressDialog->appendText(tr("Assembled cloud %1, total=%2 (%3/%4).").arg(iter->first).arg(assembledCloud->size()).arg(++i).arg(clouds.size()));
+				_progressDialog->incrementStep();
+				QApplication::processEvents();
+			}
+
+			pcl::copyPointCloud(*assembledCloud, *rawAssembledCloud);
+
+			if(_ui->doubleSpinBox_voxelSize_assembled->value())
+			{
+				_progressDialog->appendText(tr("Voxelize cloud (%1 points, voxel size = %2 m)...")
+						.arg(assembledCloud->size())
+						.arg(_ui->doubleSpinBox_voxelSize_assembled->value()));
+				QApplication::processEvents();
+
+				assembledCloud = util3d::voxelize(
+						assembledCloud,
+						_ui->doubleSpinBox_voxelSize_assembled->value());
+
+				if(_ui->spinBox_normalKSearch->value() > 0)
+				{
+					_progressDialog->appendText(tr("Compute normals (%1 points)...")
+							.arg(assembledCloud->size()));
+					QApplication::processEvents();
+
+					pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ(new pcl::PointCloud<pcl::PointXYZ>);
+					pcl::copyPointCloud(*assembledCloud, *cloudXYZ);
+					assembledCloud = util3d::computeNormals(
+							cloudXYZ,
+							_ui->spinBox_normalKSearch->value());
+
+					_progressDialog->appendText(tr("Update %1 normals with %2 camera views...")
+							.arg(assembledCloud->size()).arg(poses.size()));
+							util3d::adjustNormalsToViewPoints(
+									poses,
+									rawAssembledCloud,
+									rawCameraIndices,
+									assembledCloud);
+				}
+			}
+
+			clouds.clear();
+			clouds.insert(std::make_pair(0, assembledCloud));
+		}
+
+		//fill cloudWithNormals
+		for(std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr>::iterator iter=clouds.begin();
+			iter!= clouds.end();
+			++iter)
+		{
+			pcl::PointCloud<pcl::PointNormal>::Ptr cloudWithNormals = iter->second;
+
+			cloudsWithNormals.insert(std::make_pair(iter->first, cloudWithNormals));
+
+			_progressDialog->incrementStep();
+			QApplication::processEvents();
+		}
+
+		return true;
+	}
+	return false;
+}
+
+std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> ExportScansDialog::getScans(
+		const std::map<int, Transform> & poses,
+		const QMap<int, Signature> & cachedSignatures,
+		const std::map<int, cv::Mat> & createdScans) const
+{
+	std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> clouds;
+	int i=0;
+	pcl::PointCloud<pcl::PointNormal>::Ptr previousCloud;
+	pcl::IndicesPtr previousIndices;
+	Transform previousPose;
+	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
+	{
+		int points = 0;
+		if(!iter->second.isNull())
+		{
+			cv::Mat scan;
+			if(_ui->groupBox_regenerate->isChecked())
+			{
+				if(cachedSignatures.contains(iter->first))
+				{
+					const Signature & s = cachedSignatures.find(iter->first).value();
+					SensorData d = s.sensorData();
+					d.uncompressData(0, 0, &scan);
+					if(!scan.empty())
+					{
+						if(_ui->spinBox_decimation->value() > 1)
+						{
+							scan = util3d::downsample(scan, _ui->spinBox_decimation->value());
+						}
+					}
+				}
+				else
+				{
+					UERROR("Scan %d not found in cache!", iter->first);
+				}
+			}
+			else
+			{
+				scan = uValue(createdScans, iter->first, cv::Mat());
+			}
+
+			if(!scan.empty())
+			{
+				pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>);
+				if(scan.channels() == 6 && _ui->doubleSpinBox_voxelSize_assembled->value() == 0.0)
+				{
+					cloud = util3d::laserScanToPointCloudNormal(scan);
+				}
+				else
+				{
+					pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ = util3d::laserScanToPointCloud(scan);
+
+					if(_ui->doubleSpinBox_voxelSize_assembled->value() > 0.0)
+					{
+						cloudXYZ = util3d::voxelize(
+								cloudXYZ,
+								_ui->doubleSpinBox_voxelSize_assembled->value());
+					}
+
+					if(!_ui->checkBox_assemble->isChecked() && _ui->spinBox_normalKSearch->value() > 0)
+					{
+						cloud = util3d::computeNormals(
+								cloudXYZ,
+								_ui->spinBox_normalKSearch->value());
+					}
+					else
+					{
+						pcl::copyPointCloud(*cloudXYZ, *cloud);
+					}
+				}
+
+				if(cloud->size())
+				{
+					if(_ui->groupBox_filtering->isChecked() &&
+						_ui->doubleSpinBox_filteringRadius->value() > 0.0f &&
+						_ui->spinBox_filteringMinNeighbors->value() > 0)
+					{
+						pcl::IndicesPtr indices = util3d::radiusFiltering(cloud, _ui->doubleSpinBox_filteringRadius->value(), _ui->spinBox_filteringMinNeighbors->value());
+						pcl::PointCloud<pcl::PointNormal>::Ptr tmp(new pcl::PointCloud<pcl::PointNormal>);
+						pcl::copyPointCloud(*cloud, *indices, *tmp);
+						cloud = tmp;
+					}
+
+					clouds.insert(std::make_pair(iter->first, cloud));
+					points = cloud->size();
+				}
+			}
+		}
+		else
+		{
+			UERROR("transform is null!?");
+		}
+
+		if(points>0)
+		{
+			_progressDialog->appendText(tr("Generated cloud %1 with %2 points (%3/%4).")
+					.arg(iter->first).arg(points).arg(++i).arg(poses.size()));
+		}
+		else
+		{
+			_progressDialog->appendText(tr("Ignored cloud %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
+		}
+		_progressDialog->incrementStep();
+		QApplication::processEvents();
+	}
+
+	return clouds;
+}
+
+
+void ExportScansDialog::saveScans(
+		const QString & workingDirectory,
+		const std::map<int, Transform> & poses,
+		const std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> & clouds,
+		bool binaryMode)
+{
+	if(clouds.size() == 1)
+	{
+		QString path = QFileDialog::getSaveFileName(this, tr("Save scan to ..."), workingDirectory+QDir::separator()+"scan.ply", tr("Point cloud data (*.ply *.pcd)"));
+		if(!path.isEmpty())
+		{
+			if(clouds.begin()->second->size())
+			{
+				_progressDialog->appendText(tr("Saving the scan (%1 points)...").arg(clouds.begin()->second->size()));
+
+				bool success =false;
+				if(QFileInfo(path).suffix() == "pcd")
+				{
+					success = pcl::io::savePCDFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
+				}
+				else if(QFileInfo(path).suffix() == "ply")
+				{
+					success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
+				}
+				else if(QFileInfo(path).suffix() == "")
+				{
+					//use ply by default
+					path += ".ply";
+					success = pcl::io::savePLYFile(path.toStdString(), *clouds.begin()->second, binaryMode) == 0;
+				}
+				else
+				{
+					UERROR("Extension not recognized! (%s) Should be one of (*.ply *.pcd).", QFileInfo(path).suffix().toStdString().c_str());
+				}
+				if(success)
+				{
+					_progressDialog->incrementStep();
+					_progressDialog->appendText(tr("Saving the scan (%1 points)... done.").arg(clouds.begin()->second->size()));
+
+					QMessageBox::information(this, tr("Save successful!"), tr("Scan saved to \"%1\"").arg(path));
+				}
+				else
+				{
+					QMessageBox::warning(this, tr("Save failed!"), tr("Failed to save to \"%1\"").arg(path));
+				}
+			}
+			else
+			{
+				QMessageBox::warning(this, tr("Save failed!"), tr("Scan is empty..."));
+			}
+		}
+	}
+	else if(clouds.size())
+	{
+		QString path = QFileDialog::getExistingDirectory(this, tr("Save scans to (*.ply *.pcd)..."), workingDirectory, 0);
+		if(!path.isEmpty())
+		{
+			bool ok = false;
+			QStringList items;
+			items.push_back("ply");
+			items.push_back("pcd");
+			QString suffix = QInputDialog::getItem(this, tr("File format"), tr("Which format?"), items, 0, false, &ok);
+
+			if(ok)
+			{
+				QString prefix = QInputDialog::getText(this, tr("File prefix"), tr("Prefix:"), QLineEdit::Normal, "scan", &ok);
+
+				if(ok)
+				{
+					for(std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr >::const_iterator iter=clouds.begin(); iter!=clouds.end(); ++iter)
+					{
+						if(iter->second->size())
+						{
+							pcl::PointCloud<pcl::PointNormal>::Ptr transformedCloud;
+							transformedCloud = util3d::transformPointCloud(iter->second, poses.at(iter->first));
+
+							QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
+							bool success =false;
+							if(suffix == "pcd")
+							{
+								success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
+							}
+							else if(suffix == "ply")
+							{
+								success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
+							}
+							else
+							{
+								UFATAL("Extension not recognized! (%s)", suffix.toStdString().c_str());
+							}
+							if(success)
+							{
+								_progressDialog->appendText(tr("Saved scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
+							}
+							else
+							{
+								_progressDialog->appendText(tr("Failed saving scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
+							}
+						}
+						else
+						{
+							_progressDialog->appendText(tr("Scan %1 is empty!").arg(iter->first));
+						}
+						_progressDialog->incrementStep();
+						QApplication::processEvents();
+					}
+				}
+			}
+		}
+	}
+}
+
+}
diff --git a/guilib/src/ExportScansDialog.h b/guilib/src/ExportScansDialog.h
new file mode 100644
index 00000000..bf56c26d
--- /dev/null
+++ b/guilib/src/ExportScansDialog.h
@@ -0,0 +1,109 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef EXPORTSCANSDIALOG_H_
+#define EXPORTSCANSDIALOG_H_
+
+#include <QDialog>
+#include <QMap>
+#include <QtCore/QSettings>
+
+#include <rtabmap/core/Signature.h>
+
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/PolygonMesh.h>
+#include <pcl/TextureMesh.h>
+#include <pcl/pcl_base.h>
+
+class Ui_ExportScansDialog;
+class QAbstractButton;
+
+namespace rtabmap {
+class ProgressDialog;
+
+class ExportScansDialog : public QDialog
+{
+	Q_OBJECT
+
+public:
+	ExportScansDialog(QWidget *parent = 0);
+
+	virtual ~ExportScansDialog();
+
+	void saveSettings(QSettings & settings, const QString & group = "") const;
+	void loadSettings(QSettings & settings, const QString & group = "");
+
+	void exportScans(
+			const std::map<int, Transform> & poses,
+			const std::map<int, int> & mapIds,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, cv::Mat> & createdScans,
+			const QString & workingDirectory);
+
+	void viewScans(
+			const std::map<int, Transform> & poses,
+			const std::map<int, int> & mapIds,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, cv::Mat> & createdScans,
+			const QString & workingDirectory);
+
+signals:
+	void configChanged();
+
+public slots:
+	void restoreDefaults();
+
+private:
+	std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> getScans(
+			const std::map<int, Transform> & poses,
+			const QMap<int, Signature> & cachedSignatures,
+			const std::map<int, cv::Mat> & createdScans) const;
+	bool getExportedScans(
+				const std::map<int, Transform> & poses,
+				const std::map<int, int> & mapIds,
+				const QMap<int, Signature> & cachedSignatures,
+				const std::map<int, cv::Mat> & createdScans,
+				const QString & workingDirectory,
+				std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> & clouds);
+	void saveScans(const QString & workingDirectory,
+			const std::map<int, Transform> & poses,
+			const std::map<int, pcl::PointCloud<pcl::PointNormal>::Ptr> & clouds,
+			bool binaryMode = true);
+
+	void setSaveButton();
+	void setOkButton();
+	void enableRegeneration(bool enabled);
+
+private:
+	Ui_ExportScansDialog * _ui;
+	ProgressDialog * _progressDialog;
+};
+
+}
+
+#endif /* EXPORTSCANSDIALOG_H_ */
diff --git a/guilib/src/ImageView.cpp b/guilib/src/ImageView.cpp
index a6ab72da..3cb38205 100644
--- a/guilib/src/ImageView.cpp
+++ b/guilib/src/ImageView.cpp
@@ -726,9 +726,13 @@ void ImageView::setImage(const QImage & image)
 			this->updateOpacity();
 		}
 	}
-	else
+
+	if(image.rect().isValid())
 	{
 		this->setSceneRect(image.rect());
+	}
+	else if(!_graphicsView->isVisible())
+	{
 		this->update();
 	}
 }
diff --git a/guilib/src/MainWindow.cpp b/guilib/src/MainWindow.cpp
index 29247028..f3882228 100644
--- a/guilib/src/MainWindow.cpp
+++ b/guilib/src/MainWindow.cpp
@@ -58,6 +58,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/utilite/UCv2Qt.h"
 
 #include "ExportCloudsDialog.h"
+#include "ExportScansDialog.h"
 #include "AboutDialog.h"
 #include "PostProcessingDialog.h"
 
@@ -127,7 +128,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_odomThread(0),
 	_preferencesDialog(0),
 	_aboutDialog(0),
-	_exportDialog(0),
+	_exportCloudsDialog(0),
+	_exportScansDialog(0),
 	_dataRecorder(0),
 	_lastId(0),
 	_processingStatistics(false),
@@ -165,8 +167,10 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	// Create dialogs
 	_aboutDialog = new AboutDialog(this);
 	_aboutDialog->setObjectName("AboutDialog");
-	_exportDialog = new ExportCloudsDialog(this);
-	_exportDialog->setObjectName("ExportCloudsDialog");
+	_exportCloudsDialog = new ExportCloudsDialog(this);
+	_exportCloudsDialog->setObjectName("ExportCloudsDialog");
+	_exportScansDialog = new ExportScansDialog(this);
+	_exportScansDialog->setObjectName("ExportScansDialog");
 	_postProcessingDialog = new PostProcessingDialog(this);
 	_postProcessingDialog->setObjectName("PostProcessingDialog");
 
@@ -199,7 +203,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	bool statusBarShown = false;
 	_preferencesDialog->loadMainWindowState(this, _savedMaximized, statusBarShown);
 	_preferencesDialog->loadWindowGeometry(_preferencesDialog);
-	_preferencesDialog->loadWindowGeometry(_exportDialog);
+	_preferencesDialog->loadWindowGeometry(_exportCloudsDialog);
+	_preferencesDialog->loadWindowGeometry(_exportScansDialog);
 	_preferencesDialog->loadWindowGeometry(_postProcessingDialog);
 	_preferencesDialog->loadWindowGeometry(_aboutDialog);
 	setupMainLayout(_preferencesDialog->isVerticalLayoutUsed());
@@ -411,7 +416,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	connect(_ui->imageView_odometry, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->graphicsView_graphView, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->widget_cloudViewer, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
-	connect(_exportDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
+	connect(_exportCloudsDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
+	connect(_exportScansDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_postProcessingDialog, SIGNAL(configChanged()), this, SLOT(configGUIModified()));
 	connect(_ui->toolBar->toggleViewAction(), SIGNAL(toggled(bool)), this, SLOT(configGUIModified()));
 	connect(_ui->toolBar, SIGNAL(orientationChanged(Qt::Orientation)), this, SLOT(configGUIModified()));
@@ -466,7 +472,8 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
 	_preferencesDialog->loadWidgetState(_ui->widget_cloudViewer);
 
 	//dialog states
-	_preferencesDialog->loadWidgetState(_exportDialog);
+	_preferencesDialog->loadWidgetState(_exportCloudsDialog);
+	_preferencesDialog->loadWidgetState(_exportScansDialog);
 	_preferencesDialog->loadWidgetState(_postProcessingDialog);
 
 	if(_ui->statsToolBox->findChildren<StatItem*>().size() == 0)
@@ -1288,9 +1295,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 			_ui->imageView_source->setBackgroundColor(Qt::gray);
 		}
 		// Set color code as tooltip
-		if(_ui->imageView_source->toolTip().isEmpty())
+		if(_ui->label_refId->toolTip().isEmpty())
 		{
-			_ui->imageView_source->setToolTip(
+			_ui->label_refId->setToolTip(
 				"Background Color Code:\n"
 				"  Blue = Weight Update Merged\n"
 				"  Dark Blue = Weight Update\n"
@@ -1299,9 +1306,9 @@ void MainWindow::processStats(const rtabmap::Statistics & stat)
 				"  Gray = Small Movement");
 		}
 		// Set color code as tooltip
-		if(_ui->imageView_loopClosure->toolTip().isEmpty())
+		if(_ui->label_matchId->toolTip().isEmpty())
 		{
-			_ui->imageView_loopClosure->setToolTip(
+			_ui->label_matchId->setToolTip(
 				"Background Color Code:\n"
 				"  Green = Accepted Loop Closure Detection\n"
 				"  Red = Rejected Loop Closure Detection\n"
@@ -2321,9 +2328,12 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 			}
 			else
 			{
-				pcl::PointCloud<pcl::PointXYZ>::Ptr cloudXYZ(new pcl::PointCloud<pcl::PointXYZ>);
-				pcl::copyPointCloud(*cloud, *cloudXYZ);
-				_createdScans.insert(std::make_pair(nodeId, cloudXYZ));
+				if(_preferencesDialog->getCloudVoxelSizeScan(0) > 0.0)
+				{
+					//reconvert the voxelized cloud
+					scan = util3d::laserScanFromPointCloud(*cloud);
+				}
+				_createdScans.insert(std::make_pair(nodeId, scan));
 			}
 		}
 		else
@@ -2345,7 +2355,19 @@ void MainWindow::createAndAddScanToMap(int nodeId, const Transform & pose, int m
 			}
 			else
 			{
-				_createdScans.insert(std::make_pair(nodeId, cloud));
+				if(_preferencesDialog->getCloudVoxelSizeScan(0) > 0.0)
+				{
+					//reconvert the voxelized cloud
+					if(scan.channels() == 2)
+					{
+						scan = util3d::laserScan2dFromPointCloud(*cloud);
+					}
+					else
+					{
+						scan = util3d::laserScanFromPointCloud(*cloud);
+					}
+				}
+				_createdScans.insert(std::make_pair(nodeId, scan));
 
 				if(scan.channels() == 2)
 				{
@@ -3229,7 +3251,8 @@ void MainWindow::saveConfigGUI()
 	_preferencesDialog->saveWidgetState(_ui->imageView_source);
 	_preferencesDialog->saveWidgetState(_ui->imageView_loopClosure);
 	_preferencesDialog->saveWidgetState(_ui->imageView_odometry);
-	_preferencesDialog->saveWidgetState(_exportDialog);
+	_preferencesDialog->saveWidgetState(_exportCloudsDialog);
+	_preferencesDialog->saveWidgetState(_exportScansDialog);
 	_preferencesDialog->saveWidgetState(_postProcessingDialog);
 	_preferencesDialog->saveWidgetState(_ui->graphicsView_graphView);
 	_preferencesDialog->saveSettings();
@@ -4934,164 +4957,43 @@ void MainWindow::exportGridMap()
 
 void MainWindow::exportScans()
 {
-	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
-	if(getExportedScans(scans))
-	{
-		if(scans.size())
-		{
-			QMessageBox::StandardButton b = QMessageBox::question(this,
-						tr("Binary file?"),
-						tr("Do you want to save in binary mode?"),
-						QMessageBox::No | QMessageBox::Yes,
-						QMessageBox::Yes);
-
-			if(b == QMessageBox::No || b == QMessageBox::Yes)
-			{
-				this->saveScans(scans, b == QMessageBox::Yes);
-			}
-		}
-		_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
-	}
-}
-
-void MainWindow::viewScans()
-{
-	std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> scans;
-	if(getExportedScans(scans))
-	{
-		QDialog * window = new QDialog(this, Qt::Window);
-		window->setWindowFlags(Qt::Dialog);
-		window->setWindowTitle(tr("Scans (%1 nodes)").arg(scans.size()));
-		window->setMinimumWidth(800);
-		window->setMinimumHeight(600);
-
-		CloudViewer * viewer = new CloudViewer(window);
-		viewer->setCameraLockZ(false);
-
-		QVBoxLayout *layout = new QVBoxLayout();
-		layout->addWidget(viewer);
-		window->setLayout(layout);
-		connect(window, SIGNAL(finished(int)), viewer, SLOT(clear()));
-
-		window->show();
-
-		uSleep(500);
-
-		for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr>::iterator iter = scans.begin(); iter!=scans.end(); ++iter)
-		{
-			_initProgressDialog->appendText(tr("Viewing the scan %1 (%2 points)...").arg(iter->first).arg(iter->second->size()));
-			_initProgressDialog->incrementStep();
-
-			QColor color = Qt::red;
-			int mapId = uValue(_currentMapIds, iter->first, -1);
-			if(mapId >= 0)
-			{
-				color = (Qt::GlobalColor)(mapId % 12 + 7 );
-			}
-			viewer->addCloud(uFormat("cloud%d",iter->first), iter->second, iter->first>0?_currentPosesMap.at(iter->first):Transform::getIdentity());
-			_initProgressDialog->appendText(tr("Viewing the scan %1 (%2 points)... done.").arg(iter->first).arg(iter->second->size()));
-		}
-
-		_initProgressDialog->setValue(_initProgressDialog->maximumSteps());
-	}
-}
-
-bool MainWindow::getExportedScans(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans)
-{
-	QMessageBox::StandardButton b = QMessageBox::question(this,
-				tr("Assemble scans?"),
-				tr("Do you want to assemble the scans in only one cloud?"),
-				QMessageBox::No | QMessageBox::Yes,
-				QMessageBox::Yes);
-
-	if(b != QMessageBox::No && b != QMessageBox::Yes)
-	{
-		return false;
-	}
-
-	double voxel = 0.01;
-	bool assemble = b == QMessageBox::Yes;
-
-	if(assemble)
-	{
-		bool ok;
-		voxel = QInputDialog::getDouble(this, tr("Voxel size"), tr("Voxel size (m):"), voxel, 0.00, 0.1, 2, &ok);
-		if(!ok)
-		{
-			return false;
-		}
-	}
-
-	pcl::PointCloud<pcl::PointXYZ>::Ptr assembledScans(new pcl::PointCloud<pcl::PointXYZ>());
-	std::map<int, Transform> poses = _ui->widget_mapVisibility->getVisiblePoses();
-
-	_initProgressDialog->resetProgress();
-	_initProgressDialog->show();
-	_initProgressDialog->setMaximumSteps(int(poses.size())*(assemble?1:2)+1);
-
-	int count = 1;
-	int i = 0;
-	for(std::map<int, Transform>::const_iterator iter = poses.begin(); iter!=poses.end(); ++iter)
-	{
-		bool inserted = false;
-		if(_createdScans.find(iter->first) != _createdScans.end())
-		{
-			pcl::PointCloud<pcl::PointXYZ>::Ptr scan = _createdScans.at(iter->first);
-			if(scan->size())
-			{
-				if(assemble)
-				{
-					*assembledScans += *util3d::transformPointCloud(scan, iter->second);;
-
-					if(count++ % 100 == 0)
-					{
-						if(assembledScans->size() && voxel)
-						{
-							assembledScans = util3d::voxelize(assembledScans, voxel);
-						}
-					}
-				}
-				else
-				{
-					scans.insert(std::make_pair(iter->first, scan));
-				}
-				inserted = true;
-			}
-		}
-		if(inserted)
-		{
-			_initProgressDialog->appendText(tr("Generated scan %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
-		}
-		else
-		{
-			_initProgressDialog->appendText(tr("Ignored scan %1 (%2/%3).").arg(iter->first).arg(++i).arg(poses.size()));
-		}
-		_initProgressDialog->incrementStep();
-		QApplication::processEvents();
-	}
-
-	if(assemble)
-	{
-		if(voxel && assembledScans->size())
-		{
-			assembledScans = util3d::voxelize(assembledScans, voxel);
-		}
-		if(assembledScans->size())
-		{
-			scans.insert(std::make_pair(0, assembledScans));
-		}
-	}
-	return true;
-}
-
-void MainWindow::exportClouds()
-{
-	if(_exportDialog->isVisible())
+	if(_exportScansDialog->isVisible())
 	{
 		return;
 	}
 
-	_exportDialog->exportClouds(
+	_exportScansDialog->exportScans(
+			_currentPosesMap,
+			_currentMapIds,
+			_cachedSignatures,
+			_createdScans,
+			_preferencesDialog->getWorkingDirectory());
+}
+
+void MainWindow::viewScans()
+{
+	if(_exportScansDialog->isVisible())
+	{
+		return;
+	}
+
+	_exportScansDialog->viewScans(
+			_currentPosesMap,
+			_currentMapIds,
+			_cachedSignatures,
+			_createdScans,
+			_preferencesDialog->getWorkingDirectory());
+
+}
+
+void MainWindow::exportClouds()
+{
+	if(_exportCloudsDialog->isVisible())
+	{
+		return;
+	}
+
+	_exportCloudsDialog->exportClouds(
 			_currentPosesMap,
 			_currentMapIds,
 			_cachedSignatures,
@@ -5101,12 +5003,12 @@ void MainWindow::exportClouds()
 
 void MainWindow::viewClouds()
 {
-	if(_exportDialog->isVisible())
+	if(_exportCloudsDialog->isVisible())
 	{
 		return;
 	}
 
-	_exportDialog->viewClouds(
+	_exportCloudsDialog->viewClouds(
 			_currentPosesMap,
 			_currentMapIds,
 			_cachedSignatures,
@@ -5449,115 +5351,6 @@ void MainWindow::dataRecorderDestroyed()
 
 //END ACTIONS
 
-
-void MainWindow::saveScans(const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr> & scans, bool binaryMode)
-{
-	if(scans.size() == 1)
-	{
-		QString path = QFileDialog::getSaveFileName(this, tr("Save to ..."), _preferencesDialog->getWorkingDirectory()+QDir::separator()+"scan.ply", tr("Point cloud data (*.ply *.pcd)"));
-		if(!path.isEmpty())
-		{
-			if(scans.begin()->second->size())
-			{
-				_initProgressDialog->appendText(tr("Saving the scan (%1 points)...").arg(scans.begin()->second->size()));
-
-				bool success =false;
-				if(QFileInfo(path).suffix() == "pcd")
-				{
-					success = pcl::io::savePCDFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
-				}
-				else if(QFileInfo(path).suffix() == "ply")
-				{
-					success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
-				}
-				else if(QFileInfo(path).suffix() == "")
-				{
-					//use ply by default
-					path += ".ply";
-					success = pcl::io::savePLYFile(path.toStdString(), *scans.begin()->second, binaryMode) == 0;
-				}
-				else
-				{
-					UERROR("Extension not recognized! (%s) Should be one of (*.ply *.pcd).", QFileInfo(path).suffix().toStdString().c_str());
-				}
-				if(success)
-				{
-					_initProgressDialog->incrementStep();
-					_initProgressDialog->appendText(tr("Saving the scan (%1 points)... done.").arg(scans.begin()->second->size()));
-
-					QMessageBox::information(this, tr("Save successful!"), tr("Scan saved to \"%1\"").arg(path));
-				}
-				else
-				{
-					QMessageBox::warning(this, tr("Save failed!"), tr("Failed to save to \"%1\"").arg(path));
-				}
-			}
-			else
-			{
-				QMessageBox::warning(this, tr("Save failed!"), tr("Scan is empty..."));
-			}
-		}
-	}
-	else if(scans.size())
-	{
-		QString path = QFileDialog::getExistingDirectory(this, tr("Save to (*.ply *.pcd)..."), _preferencesDialog->getWorkingDirectory(), 0);
-		if(!path.isEmpty())
-		{
-			bool ok = false;
-			QStringList items;
-			items.push_back("ply");
-			items.push_back("pcd");
-			QString suffix = QInputDialog::getItem(this, tr("File format"), tr("Which format?"), items, 0, false, &ok);
-
-			if(ok)
-			{
-				QString prefix = QInputDialog::getText(this, tr("File prefix"), tr("Prefix:"), QLineEdit::Normal, "scan", &ok);
-
-				if(ok)
-				{
-					for(std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr >::const_iterator iter=scans.begin(); iter!=scans.end(); ++iter)
-					{
-						if(iter->second->size())
-						{
-							pcl::PointCloud<pcl::PointXYZ>::Ptr transformedCloud;
-							transformedCloud = util3d::transformPointCloud(iter->second, _currentPosesMap.at(iter->first));
-
-							QString pathFile = path+QDir::separator()+QString("%1%2.%3").arg(prefix).arg(iter->first).arg(suffix);
-							bool success =false;
-							if(suffix == "pcd")
-							{
-								success = pcl::io::savePCDFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
-							}
-							else if(suffix == "ply")
-							{
-								success = pcl::io::savePLYFile(pathFile.toStdString(), *transformedCloud, binaryMode) == 0;
-							}
-							else
-							{
-								UFATAL("Extension not recognized! (%s)", suffix.toStdString().c_str());
-							}
-							if(success)
-							{
-								_initProgressDialog->appendText(tr("Saved scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
-							}
-							else
-							{
-								_initProgressDialog->appendText(tr("Failed saving scan %1 (%2 points) to %3.").arg(iter->first).arg(iter->second->size()).arg(pathFile));
-							}
-						}
-						else
-						{
-							_initProgressDialog->appendText(tr("Scan %1 is empty!").arg(iter->first));
-						}
-						_initProgressDialog->incrementStep();
-						QApplication::processEvents();
-					}
-				}
-			}
-		}
-	}
-}
-
 // STATES
 
 // in monitoring state, only some actions are enabled
diff --git a/guilib/src/PreferencesDialog.cpp b/guilib/src/PreferencesDialog.cpp
index 0f74bb7a..b02093ba 100644
--- a/guilib/src/PreferencesDialog.cpp
+++ b/guilib/src/PreferencesDialog.cpp
@@ -67,6 +67,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "rtabmap/gui/ImageView.h"
 #include "rtabmap/gui/GraphViewer.h"
 #include "ExportCloudsDialog.h"
+#include "ExportScansDialog.h"
 #include "PostProcessingDialog.h"
 #include "CreateSimpleCalibrationDialog.h"
 
@@ -2402,6 +2403,7 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
 		const CloudViewer * cloudViewer = qobject_cast<const CloudViewer*>(widget);
 		const ImageView * imageView = qobject_cast<const ImageView*>(widget);
 		const ExportCloudsDialog * exportCloudsDialog = qobject_cast<const ExportCloudsDialog*>(widget);
+		const ExportScansDialog * exportScansDialog = qobject_cast<const ExportScansDialog*>(widget);
 		const PostProcessingDialog * postProcessingDialog = qobject_cast<const PostProcessingDialog *>(widget);
 		const GraphViewer * graphViewer = qobject_cast<const GraphViewer *>(widget);
 		const CalibrationDialog * calibrationDialog = qobject_cast<const CalibrationDialog *>(widget);
@@ -2418,6 +2420,10 @@ void PreferencesDialog::saveWidgetState(const QWidget * widget)
 		{
 			exportCloudsDialog->saveSettings(settings);
 		}
+		else if(exportScansDialog)
+		{
+			exportScansDialog->saveSettings(settings);
+		}
 		else if(postProcessingDialog)
 		{
 			postProcessingDialog->saveSettings(settings);
@@ -2452,6 +2458,7 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
 		CloudViewer * cloudViewer = qobject_cast<CloudViewer*>(widget);
 		ImageView * imageView = qobject_cast<ImageView*>(widget);
 		ExportCloudsDialog * exportCloudsDialog = qobject_cast<ExportCloudsDialog*>(widget);
+		ExportScansDialog * exportScansDialog = qobject_cast<ExportScansDialog*>(widget);
 		PostProcessingDialog * postProcessingDialog = qobject_cast<PostProcessingDialog *>(widget);
 		GraphViewer * graphViewer = qobject_cast<GraphViewer *>(widget);
 		CalibrationDialog * calibrationDialog = qobject_cast<CalibrationDialog *>(widget);
@@ -2468,6 +2475,10 @@ void PreferencesDialog::loadWidgetState(QWidget * widget)
 		{
 			exportCloudsDialog->loadSettings(settings);
 		}
+		else if(exportScansDialog)
+		{
+			exportScansDialog->loadSettings(settings);
+		}
 		else if(postProcessingDialog)
 		{
 			postProcessingDialog->loadSettings(settings);
diff --git a/guilib/src/ui/exportScansDialog.ui b/guilib/src/ui/exportScansDialog.ui
new file mode 100644
index 00000000..7280571a
--- /dev/null
+++ b/guilib/src/ui/exportScansDialog.ui
@@ -0,0 +1,305 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ExportScansDialog</class>
+ <widget class="QDialog" name="ExportScansDialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>545</width>
+    <height>439</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Export Scans</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_2" stretch="1,0,0">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>519</width>
+        <height>363</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_13">
+       <item>
+        <layout class="QGridLayout" name="gridLayout_8" columnstretch="0,1">
+         <item row="1" column="1">
+          <widget class="QLabel" name="label_binaryFile_2">
+           <property name="text">
+            <string>Assemble scans to a single output cloud.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="0">
+          <widget class="QCheckBox" name="checkBox_binary">
+           <property name="text">
+            <string/>
+           </property>
+           <property name="checked">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QCheckBox" name="checkBox_assemble">
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QLabel" name="label_109">
+           <property name="text">
+            <string>Voxel size. Set 0 to disable.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="0">
+          <widget class="QDoubleSpinBox" name="doubleSpinBox_voxelSize_assembled">
+           <property name="suffix">
+            <string> m</string>
+           </property>
+           <property name="decimals">
+            <number>3</number>
+           </property>
+           <property name="maximum">
+            <double>1.000000000000000</double>
+           </property>
+           <property name="singleStep">
+            <double>0.010000000000000</double>
+           </property>
+           <property name="value">
+            <double>0.005000000000000</double>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="1">
+          <widget class="QLabel" name="label_111">
+           <property name="text">
+            <string>Set the number of k nearest neighbors to use for the normal estimation. Set 0 to disable normal estimation.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QSpinBox" name="spinBox_normalKSearch">
+           <property name="minimum">
+            <number>0</number>
+           </property>
+           <property name="value">
+            <number>20</number>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="label_binaryFile">
+           <property name="text">
+            <string>Binary file.</string>
+           </property>
+           <property name="wordWrap">
+            <bool>true</bool>
+           </property>
+          </widget>
+         </item>
+        </layout>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_regenerate">
+         <property name="title">
+          <string>Regenerate Scans</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QVBoxLayout" name="verticalLayout_14">
+          <item>
+           <layout class="QGridLayout" name="gridLayout" columnstretch="0,1">
+            <item row="0" column="1">
+             <widget class="QLabel" name="label_108">
+              <property name="text">
+               <string>Downsampling step.</string>
+              </property>
+              <property name="wordWrap">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="0">
+             <widget class="QSpinBox" name="spinBox_decimation">
+              <property name="minimum">
+               <number>1</number>
+              </property>
+              <property name="maximum">
+               <number>999</number>
+              </property>
+              <property name="value">
+               <number>1</number>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_filtering">
+         <property name="title">
+          <string>Cloud Filtering (remove noisy points)</string>
+         </property>
+         <property name="checkable">
+          <bool>true</bool>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_9" columnstretch="0,1">
+          <item row="0" column="0">
+           <widget class="QDoubleSpinBox" name="doubleSpinBox_filteringRadius">
+            <property name="suffix">
+             <string> m</string>
+            </property>
+            <property name="decimals">
+             <number>3</number>
+            </property>
+            <property name="minimum">
+             <double>0.001000000000000</double>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+            <property name="value">
+             <double>0.020000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_110">
+            <property name="text">
+             <string>Radius search.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QSpinBox" name="spinBox_filteringMinNeighbors">
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="value">
+             <number>2</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_112">
+            <property name="text">
+             <string>Minimum neighbors in the search radius.</string>
+            </property>
+            <property name="wordWrap">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_9">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <spacer name="verticalSpacer">
+     <property name="orientation">
+      <enum>Qt::Vertical</enum>
+     </property>
+     <property name="sizeHint" stdset="0">
+      <size>
+       <width>20</width>
+       <height>0</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
+   <item>
+    <widget class="QDialogButtonBox" name="buttonBox">
+     <property name="orientation">
+      <enum>Qt::Horizontal</enum>
+     </property>
+     <property name="standardButtons">
+      <set>QDialogButtonBox::Cancel|QDialogButtonBox::Ok|QDialogButtonBox::RestoreDefaults|QDialogButtonBox::Save</set>
+     </property>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>accepted()</signal>
+   <receiver>ExportScansDialog</receiver>
+   <slot>accept()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>248</x>
+     <y>254</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>157</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+  <connection>
+   <sender>buttonBox</sender>
+   <signal>rejected()</signal>
+   <receiver>ExportScansDialog</receiver>
+   <slot>reject()</slot>
+   <hints>
+    <hint type="sourcelabel">
+     <x>316</x>
+     <y>260</y>
+    </hint>
+    <hint type="destinationlabel">
+     <x>286</x>
+     <y>274</y>
+    </hint>
+   </hints>
+  </connection>
+ </connections>
+</ui>